The invention discloses an optical flow positioning method of an unmanned aerial vehicle and the unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle positioning, and the method comprises the steps: collecting a continuous image sequence in the flight process of the unmanned aerial vehicle in real time, and constructing a Gaussian pyramid for the collected images; and then illumination compensation is carried out between adjacent frames, speed information of the unmanned aerial vehicle is calculated, feedback compensation is carried out on the speed information of the unmanned aerial vehicle, and accurate positioning of the unmanned aerial vehicle is realized. By inserting the progressive frame between the adjacent frames with the overlarge gray difference value, gradual brightness transition can be realized between the adjacent frames with the overlarge gray difference value, the appearance change of a target can be smoothed, a tracker is helped to adapt to illumination change, visual and algorithm difficulties caused by sudden brightness change are reduced, and the tracking accuracy is improved. And meanwhile, the progressive frame is inserted between the adjacent frames with overlarge gray difference values to provide more references for feature point matching, so that the wrong matching rate of the feature points is reduced, and the accuracy and robustness of unmanned aerial vehicle positioning are improved.

    本发明公开了一种无人机的光流定位方法及无人机,涉及无人机定位技术领域,包括实时采集无人机飞行过程中的连续图像序列,对采集后的图像构建高斯金字塔;而后对相邻帧之间进行光照补偿,计算无人机的速度信息,对无人机速度信息进行反馈补偿,实现无人机的精确定位。通过在灰度差值过大的相邻帧之间插入渐进帧,进而可在灰度差值过大的相邻帧之间实现亮度逐步过渡,可以平滑目标的外观变化,帮助跟踪器适应光照变化,减少亮度突变带来的视觉和算法上的困难,同时在灰度差值过大的相邻帧之间插入渐进帧为特征点匹配提供更多参考,降低了特征点错误匹配率,从而提高无人机定位的准确性和鲁棒性。


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    Title :

    Optical flow positioning method of unmanned aerial vehicle and unmanned aerial vehicle


    Additional title:

    一种无人机的光流定位方法及无人机


    Contributors:
    HUANG XIAOCUI (author) / LIU GUANGWEN (author) / LI ZHIHAO (author) / CHEN YINGCHANG (author)

    Publication date :

    2025-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64U / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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